zprotocols
/
zcancmder_v2
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
84c9be4317
commit
481aede1a7
9 changed files with 188 additions and 27 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 1
      api/errorcode.hpp
  2. 3
      api/zi_motor.hpp
  3. 27
      cmdid.hpp
  4. 39
      protocol_parser.cpp
  5. 28
      protocol_proxy.cpp
  6. 33
      protocol_proxy.hpp
  7. 26
      zmodule_device_manager.cpp
  8. 28
      zmodule_device_manager.hpp
  9. 30
      zmodule_device_script_cmder_paser.cpp

1
api/errorcode.hpp
View File

@ -63,6 +63,7 @@ typedef enum {
kxymotor_not_found_y_zero_point = ERROR_CODE(300, 5), // 未找到零点
kxymotor_x_find_zero_edge_fail = ERROR_CODE(300, 6), // 离开零点失败
kxymotor_y_find_zero_edge_fail = ERROR_CODE(300, 7), // 离开零点失败
kmotor_run_overtime = ERROR_CODE(300, 8), // 运行超时
/**
* @brief STMP2错误

3
api/zi_motor.hpp
View File

@ -19,7 +19,8 @@ class ZIMotor {
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }

27
cmdid.hpp
View File

@ -7,6 +7,7 @@ typedef enum {
#if 0
virtual int32_t module_set_state(int32_t state_id, int32_t state_value) { return err::koperation_not_support; }
virtual int32_t module_get_state(int32_t state_id, int32_t *state_value) { return err::koperation_not_support; }
#endif
kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
kmodule_break = CMDID(1, 2), // para:{}, ack:{}
@ -27,6 +28,29 @@ typedef enum {
kmodule_set_state = CMDID(1, 17), // para:{4,4}, ack:{}
kmodule_get_state = CMDID(1, 18), // para:{4}, ack:{4}
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
#endif
kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}
kmotor_move_by = CMDID(2, 3), // para:{4,4}, ack:{}
@ -34,13 +58,14 @@ typedef enum {
kmotor_rotate_acctime = CMDID(2, 5), // para:{4,4}, ack:{}
kmotor_move_by_acctime = CMDID(2, 6), // para:{4,4}, ack:{}
kmotor_move_to_acctime = CMDID(2, 7), // para:{4,4}, ack:{}
kmotor_move_to_with_torque = CMDID(2, 8), // para:{4,4}, ack:{}
kmotor_rotate_with_torque = CMDID(2, 8), // para:{4,4}, ack:{}
kmotor_move_to_zero_forward = CMDID(2, 9), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_zero_backward = CMDID(2, 10), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
kmotor_set_current_pos_by_change_shift = CMDID(2, 12), // para:{4}, ack:{}
kmotor_motor_move_to_zero_forward_and_calculated_shift = CMDID(2, 13), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_motor_move_to_zero_backward_and_calculated_shift = CMDID(2, 14), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_torque = CMDID(2, 15), // para:{4,4,4}, ack:{}
#if 0
virtual ~ZIXYMotor() {}

39
protocol_parser.cpp
View File

@ -6,14 +6,14 @@ using namespace iflytop;
using namespace std;
#define TAG "ZIProtocolParser"
#define PROCESS_PACKET_BEGIN(var_cmdid, var_moduleType) \
int32_t* param __attribute__((__unused__)) = (int32_t*)data; \
#define PROCESS_PACKET_BEGIN(var_cmdid, var_moduleType) \
int32_t* param __attribute__((__unused__)) = (int32_t*)data; \
int paramNum __attribute__((__unused__)) = (len) / sizeof(int32_t); \
if (cmdid == var_cmdid) { \
auto* mod = dynamic_cast<var_moduleType*>(module); \
if (mod == nullptr) { \
m_cancmder->sendErrorAck(rxcmd, err::koperation_not_support); \
return; \
if (cmdid == var_cmdid) { \
auto* mod = dynamic_cast<var_moduleType*>(module); \
if (mod == nullptr) { \
m_cancmder->sendErrorAck(rxcmd, err::koperation_not_support); \
return; \
}
#define CHECK_PARAM_NUM(num) \
@ -149,21 +149,37 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
PROCESS_PACKET_20(kmodule_set_state, ZIModule, module_set_state);
PROCESS_PACKET_11(kmodule_get_state, ZIModule, module_get_state);
/*******************************************************************************
* motor *
*******************************************************************************/
#if 0
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
#endif
PROCESS_PACKET_10(kmotor_enable, ZIMotor, motor_enable);
PROCESS_PACKET_30(kmotor_rotate, ZIMotor, motor_rotate);
PROCESS_PACKET_30(kmotor_move_by, ZIMotor, motor_move_by);
PROCESS_PACKET_30(kmotor_move_to, ZIMotor, motor_move_to);
PROCESS_PACKET_20(kmotor_move_to_with_torque, ZIMotor, motor_move_to_with_torque);
PROCESS_PACKET_20(kmotor_rotate_with_torque, ZIMotor, motor_rotate_with_torque);
PROCESS_PACKET_30(kmotor_rotate_acctime, ZIMotor, motor_rotate_acctime);
PROCESS_PACKET_30(kmotor_move_by_acctime, ZIMotor, motor_move_by_acctime);
PROCESS_PACKET_30(kmotor_move_to_acctime, ZIMotor, motor_move_to_acctime);
@ -173,6 +189,7 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
PROCESS_PACKET_10(kmotor_set_current_pos_by_change_shift, ZIMotor, motor_set_current_pos_by_change_shift);
PROCESS_PACKET_40(kmotor_motor_move_to_zero_forward_and_calculated_shift, ZIMotor, motor_move_to_zero_forward_and_calculated_shift);
PROCESS_PACKET_40(kmotor_motor_move_to_zero_backward_and_calculated_shift, ZIMotor, motor_move_to_zero_backward_and_calculated_shift);
PROCESS_PACKET_30(kmotor_move_to_torque, ZIMotor, motor_move_to_torque);
/*******************************************************************************
* xymotor *

28
protocol_proxy.cpp
View File

@ -101,11 +101,35 @@ int32_t ZIProtocolProxy::module_get_state(int32_t para0, int32_t *ack0) { PROXY_
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
#endif
int32_t ZIProtocolProxy::motor_enable(int32_t para0) { PROXY_IMPL_10(kmotor_enable); }
int32_t ZIProtocolProxy::motor_rotate(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate); }
int32_t ZIProtocolProxy::motor_move_by(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by); }
int32_t ZIProtocolProxy::motor_move_to(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to); }
int32_t ZIProtocolProxy::motor_move_to_with_torque(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_move_to_with_torque); }
int32_t ZIProtocolProxy::motor_rotate_with_torque(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_rotate_with_torque); }
int32_t ZIProtocolProxy::motor_rotate_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_rotate_acctime); }
int32_t ZIProtocolProxy::motor_move_by_acctime(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_by_acctime); }
@ -120,6 +144,8 @@ int32_t ZIProtocolProxy::motor_set_current_pos_by_change_shift(int32_t para0) {
int32_t ZIProtocolProxy::motor_move_to_zero_forward_and_calculated_shift(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_motor_move_to_zero_forward_and_calculated_shift); };
int32_t ZIProtocolProxy::motor_move_to_zero_backward_and_calculated_shift(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_motor_move_to_zero_backward_and_calculated_shift); };
int32_t ZIProtocolProxy::motor_move_to_torque(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to_torque); }
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/

33
protocol_proxy.hpp
View File

@ -57,15 +57,38 @@ class ZIProtocolProxy : public ZIMotor, //
virtual int32_t module_set_state(int32_t state_id, int32_t state_value) override;
virtual int32_t module_get_state(int32_t state_id, int32_t *state_value) override;
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
#endif
virtual int32_t motor_enable(int32_t enable) override;
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;
@ -80,6 +103,8 @@ class ZIProtocolProxy : public ZIMotor, //
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override;
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/

26
zmodule_device_manager.cpp
View File

@ -49,11 +49,34 @@ int32_t ZModuleDeviceManager::module_get_state(uint16_t id, int32_t state_id, in
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
#endif
int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIMotor, motor_enable, enable); }
int32_t ZModuleDeviceManager::motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_rotate, direction, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_by, distance, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_to, position, motor_velocity, acc); }
int32_t ZModuleDeviceManager::motor_move_to_with_torque(uint16_t id, int32_t direction, int32_t torque) { PROXY_IMPL(ZIMotor, motor_move_to_with_torque, direction, torque); }
int32_t ZModuleDeviceManager::motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque) { PROXY_IMPL(ZIMotor, motor_rotate_with_torque, direction, torque); }
int32_t ZModuleDeviceManager::motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_rotate_acctime, direction, motor_velocity, acctime); }
int32_t ZModuleDeviceManager::motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_move_by_acctime, distance, motor_velocity, acctime); }
int32_t ZModuleDeviceManager::motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_move_to_acctime, position, motor_velocity, acctime); }
@ -63,6 +86,7 @@ int32_t ZModuleDeviceManager::motor_read_pos(uint16_t id, int32_t *pos) { PROXY_
int32_t ZModuleDeviceManager::motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos) { PROXY_IMPL(ZIMotor, motor_set_current_pos_by_change_shift, pos); }
int32_t ZModuleDeviceManager::motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_forward_and_calculated_shift, findzerospeed, findzeroedge_speed, acc, overtime); }
int32_t ZModuleDeviceManager::motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_backward_and_calculated_shift, findzerospeed, findzeroedge_speed, acc, overtime); }
int32_t ZModuleDeviceManager::motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_torque, pos, torque, overtime); }
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/

28
zmodule_device_manager.hpp
View File

@ -87,12 +87,29 @@ class ZModuleDeviceManager {
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
#if 0
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
#endif
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
#endif
virtual int32_t motor_enable(uint16_t id, int32_t enable);
virtual int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
@ -102,11 +119,12 @@ class ZModuleDeviceManager {
virtual int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
virtual int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_with_torque(uint16_t id, int32_t direction, int32_t torque);
virtual int32_t motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque);
virtual int32_t motor_read_pos(uint16_t id, int32_t *pos);
virtual int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime);
/*******************************************************************************
* ZIXYMotor *

30
zmodule_device_script_cmder_paser.cpp
View File

@ -44,7 +44,7 @@ using namespace std;
#define PROCESS_PACKET_53(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) {
m_cmdParser = cancmder;
m_cmdParser = cancmder;
m_deviceManager = deviceManager;
#if 0
/*******************************************************************************
@ -89,7 +89,7 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque);
int32_t motor_rotate_with_torque(uint16_t id, int32_t pos, int32_t torque);
int32_t motor_read_pos(uint16_t id, int32_t *pos);
int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
@ -114,6 +114,28 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
PROCESS_PACKET_10(module_active_cfg, "(mid)");
PROCESS_PACKET_30(module_set_state, "(mid, state_id, state_value)");
PROCESS_PACKET_21(module_get_state, "(mid, state_id)");
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
#endif
PROCESS_PACKET_20(motor_enable, "(mid, enable)");
PROCESS_PACKET_40(motor_rotate, "(mid, direction, motor_velocity, acc)");
@ -124,7 +146,9 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
PROCESS_PACKET_40(motor_move_by_acctime, "(mid, distance, motor_velocity, acctime)");
PROCESS_PACKET_40(motor_move_to_acctime, "(mid, position, motor_velocity, acctime)");
PROCESS_PACKET_30(motor_move_to_with_torque, "(mid, pos, torque)");
PROCESS_PACKET_30(motor_rotate_with_torque, "(mid, pos, torque)");
PROCESS_PACKET_40(motor_move_to_torque, "(mid, pos, torque, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_forward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_backward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");

Write Preview
Loading…
Cancel
Save